Tripod robot

A technology of robots and fuselage, applied in the field of mechanical control, to achieve the effect of practical promotion value and stable operation

Inactive Publication Date: 2013-03-20
BEIJING UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In this way, the overall movement of the robot is flexible, and the three-legged walking robot has great challenges for jumping out of the inertial thinking of two-legged and multi-legged robots.

Method used

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Embodiment Construction

[0021] combine Figure 1-Figure 4 The present invention is described further:

[0022] Three-legged robot, including crank pin set screw 1, rocker bracket 2, crank positioning screw 3, body 4, power supply and control circuit 5, encoder 6, coreless motor 7, legs 8, rocker bracket fixed Screw 9, rocker shaft 10, rocker 11, circlip 12, rocker pin set screw 13, aluminum alloy ball joint 14, rocker pin 15, small sleeve 16, aluminum alloy ball joint connecting rod 17, crank pin 18. Large sleeve 19, crank 20, rocker pin fixing hole 21, rocker pin set screw hole 22, rocker shaft hole 23, leg fixing hole 24, rocker bracket fixing hole 25, rocker shaft fixing hole 26 , crank positioning top wire hole 27, coreless motor shaft fixing hole 28, crank pin fixing hole 29, crank pin set screw hole 30. Each leg of the robot moves independently. The encoder, the coreless motor, the power supply and the control circuit together drive the robot's leg movement and control the robot's movement. ...

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PUM

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Abstract

The invention relates to a tripod robot which belongs to the field of mechanical control. Three rocker brackets are fixedly arranged on a body uniformly at a horizontal interval of 120 degrees. Rockers are fixedly arranged on the rocker brackets through rocker rotary shafts and rotate around the rocker rotary shafts. Legs are fixedly arranged on the rockers and are free from relative movement with the rockers. An One aluminum alloy spherical connector is connected to the each rockers through a small sleeve. An The other aluminum alloy spherical connector is connected to a each crankshaft through a large sleeve. The aluminum alloy spherical connectors connected to the rockers is are connected with the aluminum alloy spherical connectors connected to the crankshafts through an aluminum alloy spherical connector connecting rods. The crankshafts is are connected with an output shafts of a motors. A cCoders is are connected with a control ends of the motors. A pPower supply supplies and a control circuits are connected with a power inputs of the motors to supply power to the motors. The tripod robot provided by the invention is stable in operation, has a practical application value, and lays a foundation for subsequent researches.

Description

technical field [0001] The invention relates to a three-legged robot. The three legs are independently driven, and various movements of the robot as a whole are realized through precise closed-loop control of the position and speed of the legs of the robot. It belongs to the field of mechanical control. Background technique [0002] Most of the robots we see in the laboratory and in life use two-legged or four-legged and six-legged multi-legged walking or relatively traditional wheeled movement. Compared with the legged robot, the wheeled robot is much inferior in its ability to overcome obstacles, and its adaptability to terrain is not as good as that of the legged robot. Biped robots are more flexible in walking, but lack of stability. They are prone to lose balance and fall when walking. Although quadruped and hexapod robots are more stable than bipeds, they lose the flexibility of bipeds. The legs interfere with each other and are more complicated to control. The tria...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
Inventor 李清清余跃庆
Owner BEIJING UNIV OF TECH
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